CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual CONTROL WORD INDEX: 0X6040 Type Access Units Range Map PDO Memory Unsigned 16 RW - See Description, below. EVENT R Description This object is used to controls the state of the amplifier. It can be used to enable / disable the amplifier output, start, and abort moves in all operating modes, and clear fault conditions. Control Word Bit Mapping The value programmed into this object is bit-mapped as follows: Bits Description 0 Switch On. This bit must be set to enable the amplifier. 1 Enable Voltage. This bit must be set to enable the amplifier. 2 Quick Stop. If this bit is clear, then the amplifier is commanded to perform a quick stop. 3 Enable Operation. This bit must be set to enable the amplifier. 4-6 Operation mode specific. Descriptions appear in the sections that describe the various operating modes. Also see Mode Of Operation (index 0x6060, p. 64). 7 Reset Fault. A low-to-high transition of this bit makes the amplifier attempt to clear any latched fault condition. 8 Halt. If the bit is set, the amplifier will perform a halt. 9-15 Reserved for future use. STATUS WORD INDEX 0X6041 Type Access Units Range Map PDO Memory Unsigned 16 RO - See Description, below. Event - Description This object identifies the current state of the amplifier and is bit-mapped as follows: Bits Description 0 Ready to switch on. 1 Switched on. 2 Operation Enabled. Set when the amplifier is enabled. 3 Fault. If set, a latched fault condition is present in the amplifier. 4 Voltage enabled. Set if the amplifier bus voltage is above the minimum necessary for normal operation. 5 Quick Stop. When clear, the amplifier is performing a quick stop. 6 Switch on disabled. 7 Warning. Set if a warning condition is present on the amplifier. Read the Manufacturer Status Register object (index 0x1002, p. 60) for details of what warning is bit indicates. 8 Set if the last trajectory was aborted rather than finishing normally. 9 Remote. Set when the amplifier is being controlled by the CANopen interface. When clear, the amplifier may be monitored through this interface, but some other input source is controlling it. Other input sources include the serial port, amplifier CVM program, analog reference input, digital command signals (i.e. PWM input or master controller), and internal function generator. The input source is controlled by the 'amplifier desired state' value, which is normally programmed by the CME-2 software. This setting can be manipulated through the CANopen interface through the Desired State object (index 0x2300, p. 65). 10 Target Reached. This bit is set when the amplifier is finished running a trajectory, and the Position Error (index 0x60F4, p. 139) has been within the Position Tracking Window (index 0x6067, p. 138) for the programmed time. The bit is not cleared until a new trajectory is started. 11 Internal Limit Active. This bit is set when one of the amplifier limits (current, voltage, velocity or position) is active. The specific bits from the Manufacturer Status Register (index 0x1002, p. 60) that cause this bit to be set can be customized by using the mask defined in the Limit Status Mask object (index 0x2184, p. 62). Continued… 58 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status …continued: 12-13 The meanings of these bits are operation mode specific: Bit Profile Position Mode 12 Setpoint acknowledge. Profile Velocity Mode 13 Following error. Maximum slippage error. Profile Torque Mode Homing Mode Interpolated Position Mode Speed = 0. Reserved Homing attained. Interpolated pos. mode active. Reserved. Homing error. Reserved. For information on operation modes, see Mode Of Operation (index 0x6060, p. 64). 14 Set when the amplifier is performing a move and cleared when the trajectory finishes. This bit is cleared immediately at the end of the move, not after the motor has settled into position. 15 Reserved. Copley Controls 59
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CANopen Programmer's Manual - Maccon.de

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